/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "tim.h"
#include "esp8266.h"
#include "mqtt.h"
#include "motor.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
extern TIM_HandleTypeDef TIMxIniter;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
/* USER CODE BEGIN PFP */
void IWDG_Init();
/* USER CODE END PFP */


IWDG_HandleTypeDef IWDG_Initer;
 
void IWDG_Init()
{

      // IWDG_HandleTypeDef IWDG_Initer;
 
	    IWDG_Initer.Instance=IWDG;
	    IWDG_Initer.Init.Prescaler=IWDG_PRESCALER_64;
	    IWDG_Initer.Init.Reload=2500;
	    
	    HAL_IWDG_Init(&IWDG_Initer);


}

void IWDG_Feed()
{

   HAL_IWDG_Refresh(&IWDG_Initer);
	
}



/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
 
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();
	
   __HAL_RCC_GPIOB_CLK_ENABLE();
	
	GPIO_InitTypeDef GPIO_Initer;
	GPIO_Initer.Pin=GPIO_PIN_11;
	GPIO_Initer.Mode=GPIO_MODE_OUTPUT_PP;
	GPIO_Initer.Speed=GPIO_SPEED_HIGH;
	HAL_GPIO_Init(GPIOB,&GPIO_Initer);
	
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,0);


   USART_DMA_Init();
	
	USART_Init(USART_2);
	
	
	 ESP_Init();
	 
	 MQTT_Init();
	 TIM_Init(TIM_4,5);
	 
	
	 Motor_Init();

    printf("*************Ready!*************\n");

     		
		 
//      __HAL_TIM_ENABLE(&TIM2_Handler);
//		__HAL_TIM_ENABLE(&TIM4_Handler);
	
	
	
	

 printf("*************OK!*************");
  /* USER CODE BEGIN 2 */
  
 Motor_SetAngle(Motor_A,90);
// HAL_Delay(1000);
 Motor_SetAngle(Motor_B,90);
 
 HAL_Delay(500);
 
  IWDG_Init();
 
	uint8_t flag=0;
  /* Infinite loop */
	 
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,1);
 __HAL_RCC_GPIOB_CLK_DISABLE();
  /* USER CODE BEGIN WHILE */
  while (1)
  {

		IWDG_Feed();
		
		MQTT_SPing();
		
		ESP_Detector();
		
		
		if(isrece==1)
		{
		flag=MQTT_DataDeal();
			
			isrece=0;
		 
	 HAL_TIM_PWM_Start(&TIMxIniter,PWM_CHANNEL_A);
	 
	 HAL_TIM_PWM_Start(&TIMxIniter,PWM_CHANNEL_B);
		
		switch(flag){
		
		  case 0x11:
				flag=0;
			 Motor_SetAngle(Motor_B,90-35);
//			 HAL_Delay(500);
//			 Motor_SetAngle(Motor_B,90);
			 
			// HAL_Delay(250);
			break;
		
		case 0x10:
				flag=0;
			 Motor_SetAngle(Motor_B,90+35 );
//		   HAL_Delay(500);
//			 Motor_SetAngle(Motor_B,90);
			// HAL_Delay(250);
			break;
		
		case 0x21:
				flag=0;
			 Motor_SetAngle(Motor_A,90+35);
//		   HAL_Delay(500);
//			 Motor_SetAngle(Motor_A,90);
			// HAL_Delay(250);
			break;
		
		case 0x20:
				flag=0;
			 Motor_SetAngle(Motor_A,90-35);
//		   HAL_Delay(500);
//			 Motor_SetAngle(Motor_A,90);
		//	 HAL_Delay(250);
			break;
		
		case 0xff:
				flag=0;
			 Motor_SetAngle(Motor_A,90-35);
			 Motor_SetAngle(Motor_B,90+35);
//			 HAL_Delay(500);
//		   Motor_SetAngle(Motor_A,90);
//	     Motor_SetAngle(Motor_B,90);
//	     HAL_Delay(250);
		
			break;
		
	    }
		
			
			HAL_Delay(500);
			Motor_SetAngle(Motor_B,90);
			Motor_SetAngle(Motor_A,90);
			HAL_Delay(500);
			
		HAL_TIM_PWM_Stop(&TIMxIniter,PWM_CHANNEL_A);
	 
	  HAL_TIM_PWM_Stop(&TIMxIniter,PWM_CHANNEL_B);
		
		}
		
		
		
  /* USER CODE END 3 */
}
	
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
